From 00ba5e4992ee17f2d49f85f41f5586fcbaf4ec43 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell <andrew@tridgell.net> Date: Sat, 18 Jan 2020 09:57:23 +1100 Subject: [PATCH] AC_Sprayer: make configurable in hwdef.dat --- libraries/AC_Sprayer/AC_Sprayer.cpp | 3 +++ libraries/AC_Sprayer/AC_Sprayer.h | 7 +++++++ 2 files changed, 10 insertions(+) diff --git a/libraries/AC_Sprayer/AC_Sprayer.cpp b/libraries/AC_Sprayer/AC_Sprayer.cpp index a935f22adc..9b678135b5 100644 --- a/libraries/AC_Sprayer/AC_Sprayer.cpp +++ b/libraries/AC_Sprayer/AC_Sprayer.cpp @@ -1,5 +1,7 @@ #include "AC_Sprayer.h" +#if HAL_SPRAYER_ENABLED + #include <AP_AHRS/AP_AHRS.h> #include <AP_HAL/AP_HAL.h> #include <AP_Math/AP_Math.h> @@ -198,3 +200,4 @@ AC_Sprayer *sprayer() } }; +#endif // HAL_SPRAYER_ENABLED diff --git a/libraries/AC_Sprayer/AC_Sprayer.h b/libraries/AC_Sprayer/AC_Sprayer.h index 921af586b5..e86b06cbd6 100644 --- a/libraries/AC_Sprayer/AC_Sprayer.h +++ b/libraries/AC_Sprayer/AC_Sprayer.h @@ -25,6 +25,12 @@ #define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 ///< delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump #define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY 1000 ///< shut-off delay in milli seconds. This reduces the likelihood of constantly turning on/off the pump +#ifndef HAL_SPRAYER_ENABLED +#define HAL_SPRAYER_ENABLED !HAL_MINIMIZE_FEATURES +#endif + +#if HAL_SPRAYER_ENABLED + /// @class AC_Sprayer /// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm class AC_Sprayer { @@ -86,3 +92,4 @@ private: namespace AP { AC_Sprayer *sprayer(); }; +#endif // HAL_SPRAYER_ENABLED